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BSD Stepper Card interface with Rexoth XM21 PLC

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Dear All,

Motion control using Rexroth XM21 plc with S20 IO module with  stepper motor using Stepper BSD Card is possible without adding any external module?.How to add technology objects for stepper in indraworks.
Do Indraworks Engineering PLC software have option to add external bsd card?.
Do XM21 have internal pulse generator? Do anyone worked with this before? Kindly help.

Edited by hema

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